Robots are nowadays used on a daily basis in the industry and in education and have become very affordable for anyone who wants to learn something about them. The topic of this final paper is the control implementation of the robot gripper with a parallel mechanism and two degrees of freedom. The theoretical part of this paper will describe the configurations of the robots and grippers, gripper control, and system components. In the experimental part, the feedback control loop with a force sensor of the robotic gripper with a parallel mechanism is shown. The experimental gripper is tested for a case of grasping an object.